Stiffness Method

1
Displacement function
 Linear displacement, linear function

2
Definition:
For an element, a stiffness matrix k̂

is a matrix such that f̂  k̂ d̂

where k̂ relates local coordinates x̂, ŷ, ẑ  x̂ notation denotes

local coordinates
And nodal displacements d̂ Boldface type indicates matrices.

to local forces f̂ of a single element.

k
1 2
x̂
f̂1x̂ ,d̂1x̂ f̂ 2x̂ ,d̂ 2x̂
L 3
 Definitions
k - spring constant
node x̂ local
coordinate
node direction
f̂1x̂ local nodal force f̂ 2 x̂ local nodal force
d̂ 1x̂ deg ree of freedom d̂ 2x̂ deg ree of freedom

f̂1x   k 11 k 12  d̂1x 
    
f̂ 2x  k 21 k 22  d̂ 2 x  4
Finite Element Procedure
Take the following problem for example:

2
1
1 3 2
x
F3x F2x
k1 k2

5
Steps in Process

1. Discretize and Select Element Type

2. Select a Displacement Function
3. Define Strain/Displacement and
Stress/Strain Relationships
4. Derive Element Stiffness Matrix & Eqs.
5. Assemble Equations and Introduce B.C.’s
6. Solve for the Unknown Degrees of Freedom
7. Solve for Element Stresses and Strains
8. Interpret the Results
6
 Step 1 - Select the Element
Type

1 2 T
T
x̂
d̂1x̂ d̂ 2x̂

7
Step 2 - Select a Displacement
Function
Assume a displacement function û
Assume a linear function.
û  a1  a 2 x̂
Number of coefficients = number of d-o-f
Write in matrix form.
a1 
û  1 x̂ 
a 2 
8
Express û as function of d̂ 1x and d̂ 2x

û(0)  a1  a 2 (0)  d̂ 1x  a1
û(L )  a1  a 2 (L )  d̂ 2  a 2 L  d̂ 1x

d̂ 2 x  d̂ 1x
Solve for a2 : a2 
L

9
Substituting back into: û  a1  a 2 x̂
 d̂ 2 x  d̂ 1x 
Yields: û    x̂  d̂ 1x

 L 

10
In matrix form:

 x̂ x̂  d̂1x 
û  1    
 L L  d̂ 2 x 
d̂1x 
û  N 1 N 2  
d̂ 2 x 
Where :
x̂ x̂
N1  1  and N2 
L L
11
Shape Functions

N1 and N2 are called Shape Functions or

Interpolation Functions. They express the
shape of the assumed displacements.
N1 =1 N2 =0 at node 1
N1 =0 N2 =1 at node 2
N1 + N2 =1

12
 N1

1 2

13
 N2

1 2

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 N1 N2

1 2

15
 Step 3 - Define
Strain/Displacement and
Stress/Strain Relationships

T  k
  û(L )  û(0)
  d̂ 2x  d̂1x
T - tensile force  - total elongation
16
Deformed Linear Spring
Element k

1 2

d̂1x̂
d̂ 2x̂
L

17
Step 4 - Derive the Element
Stiffness Matrix and Equations

f̂1x  T
f̂ 2x  T

T  f̂1x  k d̂ 2x  d̂1x 
T  f̂ 2x  k d̂ 2x  d̂1x 
f̂1x  k d̂1x  d̂ 2x 
f̂ 2x  k d̂ 2x  d̂1x 
18
f̂1x   k  k  d̂1x 
    
f̂ 2x    k k  d̂ 2x 

 k
k̂  
 k

 k k 

19
 Step 5 - Assemble the Element
Equations to Obtain the Global
Equations and Introduce the B.C.

K    k̂ 
N
(e )

e 1

F   f̂ (e) 

N

e 1
Note: not simple addition!
20
Step 6 - Solve for Nodal
Displacements

Obtain :
K d  F
Then Solve!

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Step 7 - Solve for Element
Forces

Once displacements at each

node are known, then substitute
back into element stiffness equations
to obtain element nodal forces.

22
Two Spring Assembly

2
1
1 3 2
x
F3x F2x
k1 k2

23
For element 1 :
f̂1x   k 1  k 1  d̂1x 
    
f̂ 3x    k 1 k 1  d̂ 3x 

For element 2 :
f̂ 3x   k 2  k 2  d̂ 3x 
    
f̂ 2x    k 2 k 2  d̂ 2x 

24
Elements 1 and 2 remain connected
at node 3. This is called the continuity
or compatibility requirement.

(1) ( 2)
d 3x  d 3x  d 3 x

25
Assemble Global force matrix

F3x  f̂ 3x  f̂ 3x
(1 ) ( 2)

F2x  f̂ 2x
( 2)

F1x  f̂1x
(1 )

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 Nodal forces consistent with
element force sign convention.

2
1 3 2
1
F1x f 3(1x) f 3( 2x)
f1(x1) f 2( 2x) F2x

F3x

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F3 x  k 1d 1x  k 1d 3 x  k 2 d 3 x  k 2 d 2 x
F2 x  k 2 d 3 x  k 2 d 2 x
F1x  k 1d 1x  k 1d 3 x
in matrix form :
 F1x   k 1 0  k 1   d 1x 
     
F2 x    0 k2  k 2  d 2 x 
F    k  k2 k 1  k 2  d 3 x 
 3x   1
or
F   K d
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Global Force Matrix : Global Displacement Matrix :
 F1x   d1x 
   
F2 x  d 2 x 
   
F3x  d 3x 

Global Stiffness Matrix :

 k1 0  k1 
 
 0 k2  k2 
 
 k1  k 2 k1  k 2 

29
Assembly of [K] -
An Alternative Look.

2
1
1 3 2
x
F3x F2x
k1 k2

30
 Assembly of [K]
d̂1x d̂ 3x
 k1  k1 
[k (1 )
]  
 k 1 k1 

d̂ 3x d̂ 2x
 k2  k2
[k ( 2)
]  
 k 2 k2 
31
Expand Local [k] matrices to
Global Size

 1 0  1 d̂ 1x
(1 )   (1 ) 
f 1x
   (1)   (1) 
k 1  0 0 0  d̂ 2 x   f 2 x 
  1 0 1  d̂ (31x)  f 3(1x) 
   
0 0 
0  d̂ 1x
( 2)   ( 2) 
f 1x
   ( 2 )   ( 2 ) 
k 2 0 1  1 d̂ 2 x   f 2 x 
0  1 1  d̂ (32x)  f 3( 2x) 
   
32
 Force Equilibrium

f (1)   0   F1x 
 1x
  ( 2)   
 0   f 2 x   F2 x 
f (1)  f ( 2 )  F 
 3x   3x   3x 

33
  1 0  1 d1x  ˆ (1)

   (1) 
k1  0 0 0  dˆ 2 x 
  
ˆ
 1 0 1  d 3x (1)

0 0  ˆ
0  d1x   F1x 
( 2)

   ( 2 )   
 k 2 0 1  1 dˆ 2 x   F2 x 
    
0  1 1  dˆ (32x)  F3x 

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 k1 0  k1  d1x   F1x 
    
 0 k2  k2  d 2x   F2x 
 k 1  k2    
k 1  k 2  d 3x  F3x  


35
 Compatibility

d̂ (1)  d̂ ( 2)  d 

 (1)   ( 2)  
1x 1x 1x

d̂ 2x   d̂ 2x   d 2x 
d̂ (1)  d̂ ( 2)  d 
 3x   3x   3x 

36
Boundary Conditions
 Must Specify B.C.’s to prohibit rigid
body motion.
 Two type of B.C.’s
 Homogeneous - displacements = 0
 Nonhomogeneous - displacements =
nonzero value

37
 Partitioning
Let d 1 be the uncontrained or free displacements
and let d 2 be the constrained or specified displacements.

 K 11 K 12   d1   F1 
    
    
 K 21 K 22  d 2  F 2 

K 11 d1  F1  K 12 d 2
F 2  K 21 d1  K 22 d 2
38
 2
1
1 3 2
x
F3x F2x
k1 k2

39
 k1 0  k1   0   F1x 
    
 0 k2  k 2  d 2x   F2x 
 k 1
  k2 k 1  k 2  d 3x  F3x 

 k2  k2  d 2x  F2x 
 k   
 2 k1  k 2  d 3x  F3x 

F1x  k 1 d 3x
40
Homogeneous B.C.’s
 Delete row and column corresponding
to B.C.
 Solve for unknown displacements.
 Compute unknown forces (reactions)
from original (unmodified) stiffness
matrix.

41
Nonhomogeneous B.C.’s

 k1 0  k1      F1x 
    
 0 k2  k2  d 2x   F2x 
 k 1
  k2 k 1  k 2  d 3x  F3x 

42
Nonhomogeneous B.C.’s

 k2  k2  d 2x   F2x 
 k   
 2 k1  k 2  d 3x  k 1  F3x 

43
Nonhomogeneous B.C.’s
 Transfer terms associated with known
d-o-f to RHS.
 Solve for unknown displacements.
 Compute unknown forces (reactions)
from original (unmodified) stiffness
matrix.

44
 Properties of [K] Matrix

 Symmetric - both element [k] and global [K]

 [K] is singular. Must apply B.C. to prohibit
rigid body motion.
 Terms on main diagonal are positive (Kii)

45
EXAMPLE: Three Spring Assembly

k1=1000 kN/m k2=2000 kN/m k3=3000 kN/m

1 3 4 2 x

1 2 5000 kN 3

46
k 
(1 )  1000  1000
 
  1000 1000 

k 
( 2)  2000  2000
 
  2000 2000 

k 
( 3)  3000  3000
 
  3000 3000 
47
  1000 0  1000 0 
 0  
 K  
3000 0 3000 
  1000 0 1000  2000  2000 
 
 0  3000  2000 2000  3000

48
 1000 0  1000 0  d1x   F1x 
 0      
 3000 0 3000d 2 x   F2x 
 
  1000 0 3000  2000 d 3 x  F3 x 
 
 0  3000  2000 5000  d 4 x  F4 x 

49
d 1x  d 2 x  0
0 0 0 0  d 1x   F1x 
0 0 0    
0  d 2 x  F2 x  
   
0 0 3000  2000 d 3 x  F3 x 
 
0 0  2000 5000  d 4 x  F4 x 

 3000  2000 d 3 x   0 
  2000 5000  d   5000
   4x   

50
d 3x = 10 m
11
d 4x = 15 m
11
 0 
 1000 0 -1000 0    F1x 
 0   0  F 
 3000 0 -3000  10  =  2x 
-1000 0 3000 -2000   11 F3x 
 
 0 -3000 -2000 5000  15  F4x 
 11
 F1x   -909.1 
F  -4090.9 
 2x   
 = 
F3x   0 
F4x   5000 

51
 Element 1
 1000  1000  0  f̂1x 
  1000 1000  10    
   11 f̂ 3 x 
f̂1x   909.1
  
f̂ 3 x   909.1 
1
3 909.1 kN
909.1 kN 1
x̂

52
 Element 2
 2000  2000 10 
  11 f̂ 3x 
  2000 2000  15    
   11 f̂ 4 x 
f̂ 3 x   909.1
  
f̂ 4x   909.1 
2
4 909.1 kN
909.1 kN 3
x̂

53
 Element 3
 3000  3000 15  f̂ 4x 
  3000 3000   11   
   0  f̂ 2x 
f̂ 4x   4090.9 
  
f̂ 2x   4090.9
3 4090.9 kN
4090.9 kN 4 2
x̂

54
EXAMPLE
Nonhomogeneous B.C.

k k k k
2 3 4
1 5 x

1 2 3 4

k=200 kN/m

55
 k   k   k   k 
(1) ( 2) ( 3) ( 4)  200  200
 
 200 200 

56
  200  200 0 0 0 
  200 400  200 0 0 
 
 K    0  200 400  200 0 
 
 0 0  200 400  200
 0 0 0  200 200 

57
 200  200 0 0 0  d1x   F1x 
  200 400  200 0 0   d   F 
   2 x   2x 
 0  200 400  200 0  d 3x   F3x 
   F 
 0 0  200 400  200 d
  4x   4x 
 0 0 0  200 200  d 5x  F5x 

58
d1x  0
d5 x  20 mm  0.02 m
F2 x  F3 x  F4 x  0
 200 200 0 0 0   0   F1x 
 200 400 200 0 0  d   0 
   2 x   
 0 200 400 200 0   d3 x    0 
    0 
 0 0 200 400 200 d
  4x   
 0 0 0 200 200  0.02   F5 x 

59
 Let d 1 be the uncontrained or free displacements
and let d 2 be the constrained or specified displacements.
 K 11 K 12   d1   F1 
       => K 11 d1  F1  K 12 d 2
     F 2  K 21 d1  K 22 d 2
 K 21    
K 22  d 2   F 2 

 400 200 0 0   d2 x   0 
 200 400 200  d   0 
 0 
3x   
 
 0 200 400 200   d 4 x   0 
 
 0 0 200 200  0.02  F5 x 

 400 200 0   d 2 x  0   0  0 
 200 400 200  d   0   0  0.02  0 
   3x        
 0 200 400  d 4 x  0 200 4
 
60
 400  200 0  d 2 x  0
  200 400  200 d   0
   3x   
 0  200 400  d 4x  4
d 2x  0.005 m 
   
d 3x    0.01 m 
d  0.015 m 
 4x   

61
 200  200 0 0 0   0   F1x 
  200 400  200 0    
0  .005 F2 x  
    
 0  200 400  200 0   .01   F3 x 
   F 
 0 0  200 400  200 . 015
  4x 
 0 0 0  200 200   .02  F5x 
 F1x   1.0 kN 
F   0.0 kN 
 2 x   
F3 x    0.0 kN 
F   0.0 kN 
 4x   
F5x   1.0 kN 
62
Element 1
 200  200  0  f̂1x 
  200 200  .005   
   f̂ 2x 
f̂1x   1.0 kN 
  
 2x 
f̂  1.0 kN 
1 1.0 kN
1.0 kN 1 2
x̂

63
Three Spring Assembly
k2

3
k1
2
P 2 x
k3
2
1
1 4
2
3
Rigid Bar

64
B.C. : d 1x  d 3x  d 4x  0
(1) (2) (3)
Compatibil ity : d 2x  d 2x  d 2x

(1)
Nodal equilibriu m : F1x  f1x
(1) (2) (3)
P  f 2x  f 2x  f 2x
(2)
F3x  f 3x
(3)
F4x  f 4x

65
 Free Body Diagram
(1) (1)
F1x (1)
f1x f1x f 2x

1 1 2
1

66
Free Body Diagram

(2)
f 2x

(1) P
f 2x

(3)
f 2x

67
 Free Body Diagram
2 3 (2)
f 3x F3x
3
2

2 4 (3)
f 4x F4x
4
3

68
Matrix Form of Stiffness Equations

 k1  k1 0 0  d1x   F1x 
 k k1  k 2  k 3  k2  k 3  d 2x  F2 x 
 1   
 0  k2 k2 0  d 3x  F3 x 
 
 0  k3 0 k 3  d 4 x  F4 x 

69
 Applying B.C.

 k1  k1 0 0   0   F1x 
 k k1  k 2  k 3  k2    
 k 3  d 2x   P 
 1   
 0  k2 k2 0   0  F3 x 
 
 0  k3 0 k 3   0  F4 x 

70
0 0 0 0  0   F1x 
0 k  k  k 0    
0 d 2 x   P  
 1 2 3
  
0 0 0 0  0  F3 x 
 
0 0 0 0  0  F4 x 

 k 1  k 2  k 3 d 2x  P
P
d 2x 
k 1  k 2  k 3 
71
Solving for Global Forces

F1x  k 1d 2x
F2x  k 2d 2x
F3x  k 2d 2x

72
Reading list:
A first course in finite elements
by Jacob Fish, Ted Belytschko.

Page 1-27

73
Potential Energy Approach
 Equilibrium at minimum potential
energy.
 Total potential energy defined as the
sum of internal strain energy U and
potential energy of external forces .
 p = U + 

74
System
F

x
k

75
Force-Deformation Curve

76
dU  F dx
Fkx
dU  k x dx
U   k x dx
1 2 1 1
U  kx  (kx)x  Fx
2 2 2
  Fx
1 2
 p  kx  Fx
2

77
 Stationary Value

G  G( x)
Stationary value can be maximun,
minimum, or a neutral point
defined as value of x such that :
dG
0
dx

78
 Stationary Values
G

maximum

neutral

minimum
x
79
 Stationary Value

 p   p (d1 , d 2 , , d n )   p ({d i })
First variation of  p (denoted as  p )
is used to minimize  p

80
Principle of Minimum Potential Energy:

Equilibrium occurs when the di define

a state such that p = 0 for arbitrary
admissible variations in d1 from the
equilibrium state

81
Admissible Variations in Displacements

An admissible variation is one in which the

displacement field satisfies the boundary
conditions and inter-element continuity.

82
 Admissible Displacements
u

Admissible Displacement Function

u+ u

u

Actual Displacement Function

x
83
 For Admissible Variations
in Displacements
 p  p  p
 p  d1  d 2   d n
d 1 d 2 d n
 p  0
 p  p  p
 0,  0,  , 0
d 1 d 2 d n

84
For Admissible Variations
in Displacements
 p
0 i  1,2,3,, n 
d 1

or

 p
0
d
85
 F F

x
k
k = 500 kN/m

86
p  U  
1 2
U  kx
2
  Fx
 p
 p  x  0
x
87
 p
0
x
 p
 500x  1000  0
x
x  2.00 in
 p  1000 lb  in

88
 10000 PE

 p  250x 2  1000x
8000

Deformation Potential Energy

6000
-4.00 8000
-3.00 5250
-2.00 3000 4000
-1.00 1250
0.00 0
2000
1.00 -750
2.00 -1000
3.00 -750 0 x

4.00 0 -4.00 -2.00 0.00 2.00 4.00 6.00 8.00

-2000

89
EXAMPLE

k1=1000 lb/in k2=2000 lb/in k3=3000 lb/in

1 3 4 2 x

1 2 5000 lb 3

90
 3
 k 1 d 3x  d 1x 
1
p   (e )
p
2
2

e 1

 k 2 d 4x  d 3x   k 3 d 2x  d 4x 
1 2 1 2
2 2
(1) (1) ( 2) ( 2)
 f 1x d 1x  f 3 x d 3 x  f 3 x d 3 x  f 4x d 4x
( 3) ( 3)
 f 4x d 4x  f 2x d 2x

91
 p (1)
 k 1d 3x  k 1d 1x  f1x  0
d 1x
 p ( 3)
 k 3 d 2x  k 3 d 4x  f 2x  0
d 2 x
 p (1) ( 2)
 k 1d 3x  k 1d 1x  k 2 d 4x  k 2 d 3x  f 3x  f 3x  0
d 3 x
 p ( 2) ( 3)
 k 2 d 4x  k 2 d 3x  k 3 d 2x  k 3 d 4x  f 4x  f 4x  0
d 4 x

92
 k1 0  k1 0 
 1x d   f (1)
1x

    
 0 k3 0  k 3  d 2 x   f2(x3) 
     
  k1 0 k1  k 2  k 2   d 3 x   f3 x  f3 x 
(1) ( 2)

    
 0  k3  k2 k 2  k 3  d 4 x  f4 x  f4 x 
( 2) ( 3)

 f1(x1)   F1x 
   
 f2(x3)  F2 x 
 (1) ( 2 )    
f3x  f3x  F3x 
 ( 2 ) ( 3)   
f4 x  f4 x  F4 x 

93